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#include <stdio.h>
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#include <stdlib.h>
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#include <math.h>
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#include "motion.h"
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#include "robot.h"
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#define CUTOFF 120
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#define TIME 1 /*sec*/
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#define ROBOT_WIDTH 131 /*mm*/
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#define MOTOR_CONVERSION_FACTOR 10.0
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#define FUDGE 10 /* minimum rangefinder distance until collision */
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/** move_robot will move a robot from its initial position, (x,y), and theta (in radians) to a new position given speed.
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 * (x,y) and theta will be updated by the move_robot function instead of returning a value
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 * (x,y) is some kind of absolute position in the "world", (0,0) is the top left of the "world"
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 * theta will an angle be between 0 and 2*Pi (0 being faces east and goes clockwise)
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 * speed is between 0 and 255, there is some magical cutoff point before the motors actually starts running
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 * move will return 0 if successful
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 **/
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int move_robot(Robot* r)
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{
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        Pose old_pose = r->pose;
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        short speed1 = r->shared->motor1;
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        short speed2 = r->shared->motor2;
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        float theta = r->pose.theta;
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        if (theta < 0 || theta > 2*M_PI) return 1;
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        if (speed1 < -255 || speed1 > 255) return 1;
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        if (speed2 < -255 || speed2 > 255) return 1;
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        /* if speed is lower than the cut off, don't move */
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        if (abs(speed1) < CUTOFF) {
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                speed1 = 0;
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        }
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        if (abs(speed2) < CUTOFF) {
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                speed2 = 0;
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        }
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        double radius;
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        if (speed1 == speed2) {
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          /* go straight */
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          r->pose.x += cos(theta) * speed1 / MOTOR_CONVERSION_FACTOR;
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          r->pose.y += sin(theta) * speed1 / MOTOR_CONVERSION_FACTOR;
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          return 0;
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        }
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        radius = ROBOT_WIDTH * speed1 / (speed1 - speed2);
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        double t = speed1 / radius / MOTOR_CONVERSION_FACTOR;
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        double newx = (radius * sin(t)) / MOTOR_CONVERSION_FACTOR;
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        double newy = (radius - radius * cos(t)) / MOTOR_CONVERSION_FACTOR;
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        r->pose.x += newx * cos(theta);
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        r->pose.y += newx * sin(theta);
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        r->pose.x += newy * - sin(theta);
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        r->pose.y += newy * cos(theta);
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        int divide = (t+r->pose.theta)/(2 * M_PI);
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        r->pose.theta = (t+r->pose.theta) - (2 * M_PI * divide);
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        if (r->pose.theta<0) r->pose.theta += 2 * M_PI;
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        /* XXX: this is a terrible hack  */
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        update_rangefinders(r);
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        for (divide = 0; divide < 5; divide++) {
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            if (r->shared->ranges.d[divide] < FUDGE) {
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                r->pose = old_pose;
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                return 0;
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            }
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        }
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        /* XXX: should store values from before we alter rangefinders 
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         * and restore here, but this is all temporary...right? */
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        update_rangefinders(r);
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        return 0;
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}
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